Design And Kinematic Simulation Of The Disc Type Insulators Detection Robot

Insulator is an important part of overhead transmission lines.However,the insulating property and mechanical property of insulators will be decreased with the growth of the running time,that may result in zero or low value of the insulator,which will pose a serious threat,to the safety of transmission line.Taking into account the low efficiency and low security of traditional detection method,it's urgent to research intelligent insulator detection method to instead of it.The purpose of this paper is to detect the insulator's surface defect by the moving of the insulator string on the insulator string,and detecting the insulation resistance.In order to achieve the detection of aerial line insulator,this paper mainly research the motion system of insulator string detection robot,which includes detecting robot running mechanism and its kinematics simulation analysis.It also realizes the detection robot operating system by its physical movement on the insulator,and the information processing system by image transmission,image processing,information acquisition,edge detection and the other functions.The innovation of this paper is mainly reflected in the application of the double arm alternating linkage climbing technology,easy to replace and adjustable telescopic structure design technology,based on pattern recognition of insulator string state detection technology,based on multi sensor data fusion technology,insulator double string synchronous detection technology.The spot experiment proves the implement ability of this study,demonstrates the feasibility of the transmission line detection.The most important is that,it laid a solid theoretical and experimental foundation for the future development and product promotion,explored and solved some key technologies and processes.The successful development and implementation of this robot can not only reduce the labor intensity and the cost of transmission line operation and maintenance,but also can improve the detection quality and scientific management level.It has an important significance for enhancing the comprehensive ability of electric power production automation and creating more economic benefits and social benefits.